version: 66.04
glider: 113
mission: 4
dive: 484
start: 12 28 108 10 39 3
data:
$ID,113
$MISSION,4
$DIVE,484
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,558.3028
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95900.383
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,082120,6632.947,-6009.860,0,2123.0,0,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,27.7
$GPS2,082120,6632.947,-6009.860,0,2123.0,0,-37.7
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.166,0.150
$KALMAN_X,65941.0,2731.7,-6119.1,-146991.3,6699.0
$KALMAN_Y,-60937.7,-2524.5,5654.8,-18515.0,-6190.7
$MHEAD_RNG_PITCHd_Wd,349.8,29504,-12.9,-7.021
$D_GRID,522
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.08,-146.0,0.0,0.0,0,23,0.00,0.00,-5.45,0.000,2,0.000,0.000,174,2350,208
$GC,28,-1.08,-146.0,3.3,-0.0,1,189,5.72,2.47,-148.80,0.000,4,0.057,0.077,2213,919,3016
$GC,237,-1.22,-146.0,7.0,-8.0,37,244,0.17,2.40,0.00,0.000,6,0.094,0.057,2160,2347,3018
$GC,584,-0.78,-146.0,70.2,-18.3,98,591,0.38,2.47,0.00,0.000,4,0.180,0.072,2261,3748,3021
$GC,693,-0.78,-146.0,84.5,-11.9,117,700,0.00,2.33,0.00,0.000,6,0.000,0.044,2262,2321,3022
$GC,1036,-0.71,-146.0,124.3,-11.4,150,1040,0.00,2.33,0.00,0.000,4,0.000,0.059,2261,933,3022
$GC,1138,-0.61,-146.0,136.6,-11.3,154,1143,0.17,2.40,0.00,0.000,6,0.163,0.058,2306,2345,3022
$GC,1454,-0.72,-146.0,161.5,-8.6,169,1459,0.12,2.47,0.00,0.000,4,0.101,0.073,2261,3746,3022
$GC,1545,-0.72,-146.0,171.4,-11.1,173,1549,0.00,2.30,0.00,0.000,6,0.000,0.044,2261,2341,3022
$GC,1872,-0.72,-146.0,202.5,-8.7,189,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2341,3022
$GC,2182,-0.72,-146.0,231.4,-9.4,204,2186,0.00,2.38,0.00,0.000,4,0.000,0.059,2261,924,3022
$GC,2255,-0.72,-146.0,238.8,-9.6,207,2259,0.00,2.40,0.00,0.000,6,0.000,0.055,2261,2341,3022
$GC,2577,-0.72,-146.0,265.8,-8.1,223,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2341,3022
$GC,2887,-0.72,-146.0,291.1,-8.2,238,2891,0.00,2.47,0.00,0.000,4,0.000,0.072,2261,3748,3022
$GC,2960,-0.81,-146.0,297.2,-7.7,241,2964,0.00,2.33,0.00,0.000,6,0.000,0.043,2261,2324,3022
$GC,3281,-0.86,-146.0,323.0,-8.0,257,3285,0.00,2.33,0.00,0.000,4,0.000,0.058,2261,939,3022
$GC,3355,-0.86,-146.0,329.0,-7.8,260,3360,0.00,2.40,0.00,0.000,6,0.000,0.056,2261,2350,3022
$GC,3678,-0.93,-146.0,350.2,-7.0,276,3683,0.10,2.47,0.00,0.000,4,0.112,0.071,2224,3750,3022
$GC,3809,-0.93,-146.0,362.4,-8.8,282,3813,0.00,2.30,0.00,0.000,6,0.000,0.042,2224,2328,3022
$GC,4142,-0.93,-146.0,388.3,-6.5,298,4146,0.00,2.50,0.00,0.000,4,0.000,0.070,2223,3746,3022
$GC,4401,-0.98,-146.0,406.8,-7.1,307,4405,0.00,2.30,0.00,0.000,6,0.000,0.042,2223,2338,3022
$GC,4738,-0.98,-146.0,431.2,-7.3,316,4742,0.00,2.35,0.00,0.000,4,0.000,0.056,2224,933,3023
$GC,4997,-0.92,-146.0,451.0,-7.2,321,5001,0.00,2.40,0.00,0.000,6,0.000,0.054,2223,2350,3023
$GC,5334,-0.92,-146.0,476.4,-7.7,330,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2349,3023
$GC,5659,-0.92,-146.0,501.6,-7.7,338,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2350,3024
$GC,5985,-1.42,-146.0,510.4,0.1,346,5989,0.28,2.45,0.00,0.000,4,0.085,0.056,2121,926,3024
$STATE,6020,end dive,NO_VERTICAL_VELOCITY
$STATE,6020,begin apogee
$GC,6032,-0.34,0.0,510.5,0.0,346,6163,0.73,0.00,127.93,1.209,6,0.104,0.000,2357,2519,2421
$STATE,6163,end apogee,CONTROL_FINISHED_OK
$STATE,6164,begin climb
$GC,6167,1.08,146.0,510.2,0.0,350,6339,1.10,2.70,145.68,1.085,4,0.104,0.054,2665,1118,1824
$GC,6385,1.02,169.3,501.1,6.2,355,6415,0.00,2.62,23.02,1.057,6,0.000,0.051,2665,2520,1730
$GC,6749,0.93,169.3,475.4,7.0,364,6753,0.12,2.53,0.00,0.000,4,0.140,0.054,2635,1114,1733
$GC,6761,0.86,171.4,474.6,7.0,364,6771,0.00,2.50,3.47,0.621,6,0.000,0.051,2635,2522,1722
$GC,7115,0.90,198.2,452.7,6.1,373,7142,0.00,0.00,25.23,1.110,6,0.000,0.000,2635,2522,1611
$GC,7440,0.91,211.5,432.4,6.6,381,7455,0.00,0.00,13.30,1.049,6,0.000,0.000,2635,2522,1557
$GC,7766,0.98,224.4,410.8,6.6,389,7785,0.00,2.53,12.38,1.045,4,0.000,0.054,2635,1109,1506
$GC,7939,1.08,238.3,399.4,6.5,392,7960,0.12,2.40,13.60,1.051,6,0.081,0.051,2680,2522,1448
$GC,8281,1.03,238.3,370.8,8.5,409,8285,0.00,2.38,0.00,0.000,4,0.000,0.055,2681,1113,1451
$GC,8444,1.03,238.3,356.7,8.6,416,8448,0.00,2.33,0.00,0.000,6,0.000,0.050,2681,2520,1451
$GC,8772,1.03,238.3,330.9,7.4,432,8776,0.00,2.38,0.00,0.000,4,0.000,0.067,2681,3933,1451
$GC,8789,0.95,238.3,329.4,7.4,432,8796,0.15,2.28,0.00,0.000,6,0.143,0.041,2640,2507,1451
$GC,9106,1.06,251.6,308.5,6.6,448,9125,0.10,0.00,12.57,1.047,6,0.095,0.000,2679,2507,1394
$GC,9436,1.10,282.4,286.3,6.0,464,9467,0.00,2.45,26.27,1.088,4,0.000,0.067,2679,3927,1268
$GC,9474,1.15,315.6,283.8,5.9,466,9509,0.00,2.30,29.52,1.047,6,0.000,0.041,2679,2510,1133
$GC,9830,1.27,352.5,259.5,5.8,483,9866,0.12,0.00,31.70,1.062,6,0.077,0.000,2732,2510,982
$GC,10176,1.27,352.5,232.6,9.9,500,10179,0.00,2.28,0.00,0.000,4,0.000,0.058,2732,1110,978
$GC,10199,1.27,352.5,230.2,10.2,501,10203,0.00,2.30,0.00,0.000,6,0.000,0.051,2732,2529,978
$GC,10533,1.30,373.9,201.2,6.3,517,10556,0.00,2.40,17.85,1.034,4,0.000,0.056,2732,1117,895
$GC,10585,1.32,390.9,198.0,6.4,519,10606,0.00,2.30,16.08,1.001,6,0.000,0.051,2732,2519,826
$GC,10928,1.32,390.9,167.5,7.2,536,10932,0.00,2.30,0.00,0.000,4,0.000,0.056,2732,1118,823
$GC,11013,1.47,449.7,163.1,5.0,539,11070,0.10,2.30,50.38,1.039,6,0.088,0.051,2773,2531,586
$GC,11393,1.47,449.7,127.5,9.8,558,11396,0.00,2.33,0.00,0.000,4,0.000,0.056,2773,1114,581
$GC,11517,1.47,449.7,115.8,9.8,563,11520,0.00,2.30,0.00,0.000,6,0.000,0.052,2773,2525,579
$GC,11846,1.47,449.7,82.5,10.0,599,11852,0.00,2.35,0.00,0.000,4,0.000,0.056,2773,1109,578
$GC,11905,1.47,449.7,76.9,9.8,609,11911,0.00,2.33,0.00,0.000,6,0.000,0.051,2773,2528,578
$GC,12250,1.47,449.7,46.7,9.0,670,12257,0.00,2.35,0.00,0.000,4,0.000,0.057,2773,1117,577
$GC,12309,1.47,449.7,41.2,9.1,680,12315,0.00,2.33,0.00,0.000,6,0.000,0.052,2773,2529,577
$GC,12654,1.47,449.7,9.1,9.3,741,12661,0.00,2.38,0.00,0.000,4,0.000,0.057,2773,1109,576
$STATE,12884,end climb,NO_VERTICAL_VELOCITY
$STATE,12884,begin surface
$SM_CCo,12888,97.97,0.965,0,0,145,558.30
$SM_GC,3.50,7.97,0.00,0.00,0.075,0.000,0.000,166,2342,139,-10.38,0.06,559.53
$RAFOS_CLK,866
$RAFOS,4,1230468261,12.750000,12.739166,64,59,56,54,51,50,192,153,174,220,164,98
$RAFOS,3,1230467651,12.583333,12.569722,104,61,59,59,54,53,708,202,220,193,162,176
$RAFOS,2,1230467042,12.416667,12.400556,59,58,57,54,54,50,165,215,204,121,192,135
$RAFOS,1,1230466480,12.250000,12.244445,62,59,56,56,53,49,207,217,175,230,162,139
$RAFOS,0,1230465870,12.083333,12.075000,107,63,62,56,54,51,463,215,181,124,170,159
$RAFOS_FIX,6634.240234,-6013.151367,281208,121224,2,106,0.24
$IRIDIUM_FIX,6558.99,-6001.28,230398,030306
$TT8_MAMPS,0.03068
$HUMID,1916
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,20.3,89.964
$10V_AH,10.4,41.239
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.475,114.775,548.975,97.975,0.000,168.458,144.440,0.000,0.000,0.000,0.000,906.583,1439.113,9414.958,769.523,2561.327,646.566,33.362,1699.599,0.000,1635.868,1800.000,0.545,0.000
$DEVICE_MAMPS,180.245,76.700,1208.792,964.886,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.503,531.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28406,782
$CAP_FILE_SIZE,108722,0
$CFSIZE,260165632,214601728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$SOUNDSPEED,1444.7
$GPS,281208,122224,6634.240,-6013.151,0,2105.5,0,-37.7